DE102019106586A1 - CONTROL DEVICE FOR A VEHICLE POWERED VEHICLE - Google Patents

Abstract

In order to provide a control apparatus for a human-powered vehicle that controls a motor properly, a human-powered vehicle control apparatus includes a controller that controls a motor that drives a human-powered vehicle according to that with human power powered vehicle powered human power assisted. The controller changes a response speed of the motor with respect to a change of the human driving force according to a parameter. The parameter includes at least one of a running force of the human power vehicle, a torque of human driving force, a gear ratio of the human powered vehicle, a wheel size of the human powered vehicle, an air resistance coefficient, and a front surface projection area of a driver of the human powered vehicle related value, a wind speed, a rolling resistance coefficient, a value related to a weight of an entrained load of the human powered vehicle, and an acceleration of the human powered vehicle.

Description

REFERENCE TO OTHER APPLICATIONS

This application claims priority from the Japanese patent application JP 2018-054913 , filed Mar. 22, 2018. The entire disclosure of the Japanese Patent Application JP 2018-054913 is hereby incorporated herein by reference.

BACKGROUND

The present disclosure relates to a control apparatus for a human powered vehicle.

For example, the Japanese Patent Laid-Open Publication No. 10-59260 a human powered vehicle control device that controls a motor according to an output of a detector.

SUMMARY

An object of the present disclosure is to provide a human powered vehicle control apparatus that controls a motor appropriately.

A human powered vehicle control apparatus according to a first aspect of the present disclosure includes a controller that controls a motor that assists in driving a human powered vehicle in accordance with the human driving force supplied to the human powered vehicle. The controller changes a response speed of the motor with respect to a change of the human driving force according to a parameter. The parameter includes at least one of a running force of the human power vehicle, a torque of human driving force, a gear ratio of the human powered vehicle, a wheel size of the human powered vehicle, an air resistance coefficient, a front and front projection area of a driver of the vehicle Human powered vehicle related value, a wind speed, a rolling resistance coefficient, a value related to a weight of an entrained load of the human powered vehicle, and an acceleration of the human powered vehicle.

With the human powered vehicle control apparatus according to the first aspect, the response speed of the engine is changed with respect to a change in the human driving force according to the parameter that influences the running load. Thus, the motor is properly controlled.

According to a second aspect of the present disclosure, the human powered vehicle control apparatus of the first aspect is arranged such that the controller sets the response speed for a case where the human driving force increases and a value of the parameter is greater than or equal to a first predetermined one Is value to be higher than the response speed for a case where the human driving force increases and the value of the parameter is smaller than the first predetermined value.

With the human powered vehicle control apparatus according to the second aspect, in a case where the human driving force increases and a value of the parameter is greater than or equal to the first predetermined value, the output of the engine is increased faster than in a case the value of the parameter is less than the first predetermined value. Thus, in a case where the driving load is large, the increase in the burden on the driver is limited.

According to a third aspect of the present disclosure, the human powered vehicle control apparatus according to the first or second aspect is arranged such that the controller sets the response speed for a case where the human driving force becomes higher as the value of the parameter increases.

With the human powered vehicle control apparatus according to the third aspect, in a case where the human driving force increases, the response speed is set higher as the value of the parameter increases. So when the driving load increases, the power of the engine is increased immediately.

According to a fourth aspect of the present disclosure, the human powered vehicle control apparatus according to any one of the first to third aspects is arranged such that the controller sets the response speed for a case where the human driving force decreases and a value of the parameter is greater than or equal to is a second predetermined value, set lower than the response speed for a case where the human driving force decreases and the value of the parameter is lower than the second predetermined value.

With the human powered vehicle control apparatus according to the fourth aspect, decreases in the output of the passenger car In a case where the human driving force decreases and a value of the parameter is greater than or equal to the second predetermined value, the motor slows down faster than in a case where the value of the parameter is smaller than the second predetermined value. In a case where the driving load is large, therefore, the increases in the burden of the driver are limited.

According to a fifth aspect of the present disclosure, the human powered vehicle control apparatus of the fourth aspect is arranged such that the controller sets the response speed in a case where the human driving force decreases to become lower as the value of the parameter increases.

With the human powered vehicle control apparatus according to the fifth aspect, in a case where the human driving force decreases, the response speed is set to be lower as the value of the parameter increases. With increasing driving load thus decreases the engine output are limited.

According to a sixth aspect of the present disclosure, the human powered vehicle control apparatus according to any one of the first to fifth aspects is arranged such that the controller sets the response speed in a case where the human driving force increases to be higher than that Response speed for a case where the human driving force decreases.

With the human powered vehicle control apparatus according to the sixth aspect, in a case where the human driving force increases, the output of the engine is promptly increased. In a case where the human driving force decreases, decreases of the output of the engine are limited.

According to a seventh aspect of the present disclosure, the human powered vehicle control apparatus according to any one of the first to sixth aspects is arranged such that the controller sets the response speed for a predetermined time other than the response speed for after the predetermined time has elapsed.

With the human powered vehicle control apparatus according to the seventh aspect, the response speed until the lapse of the predetermined time and the response speed for after the lapse of the predetermined time are each set to an appropriate response speed.

According to an eighth aspect of the present disclosure, the human powered vehicle control apparatus according to the seventh aspect is arranged such that the controller sets the response speed higher than the response speed for a case where the human driving force increases after the predetermined time lapse Set case in which the human driving force increases during the predetermined period of time.

With the human-powered vehicle control apparatus according to the eighth aspect, in a case where the human driving force increases after the lapse of the predetermined period, the output of the engine is increased more rapidly than in a case where the human driving force increases before predetermined time passes.

According to a ninth aspect of the present disclosure, the human-powered vehicle control apparatus according to the seventh or eighth aspect is arranged such that the predetermined period of time is a period from the drive start of the engine to the lapse of a first time.

With the human powered vehicle control apparatus according to the ninth aspect, the response speed for a period from the drive start of the engine to the elapse of the first time and the response speed for after the lapse of the first time from the drive start of the engine are set to an appropriate response speed, respectively ,

According to a tenth aspect of the present disclosure, the human powered vehicle control apparatus according to the seventh or eighth aspect is arranged such that the human powered vehicle has a crank to which the human driving force is input , The predetermined period of time is a period from the drive start of the engine until a rotation amount of the crank reaches a predetermined amount.

With the human powered vehicle control apparatus according to the tenth aspect, the response speed for a period from the drive start of the engine to the rotational amount of the crank reaches the predetermined amount, and the response speed for after the rotational amount of the crank reaches the predetermined amount, respectively, to an appropriate one Response speed set.

According to an eleventh aspect of the present disclosure, the human powered vehicle control apparatus according to any one of the first to tenth aspects is arranged such that the controller includes a filter that performs a filtering operation on a control command to the engine. The controller changes the reaction rate by changing a time constant contained in the filter.

With the human powered vehicle control apparatus according to the eleventh aspect, the response speed is appropriately changed by varying the time constant contained in the filter.

A human powered vehicle control apparatus according to a twelfth aspect of the present disclosure includes a controller that controls a motor assisting propulsion of a human powered vehicle. The controller starts to drive the motor in accordance with the operation of an operation section, and changes a rate of change of an output of the motor according to a parameter. The parameter includes at least one of a driving force of the human-powered vehicle, a gear ratio of the human powered vehicle, a wheel size of the human powered vehicle, an air resistance coefficient, a wind speed, a rolling resistance coefficient, and a weight of an entrained load of the human power driven Vehicle related value.

With the human powered vehicle control apparatus according to the twelfth aspect, in a case where the engine starts to be driven in accordance with the operation of the operating portion, the rate of change of the output of the engine is changed according to the parameter affecting the driving load.

According to a thirteenth aspect of the present disclosure, the human powered vehicle control apparatus of the twelfth aspect is arranged such that the controller increases the rate of change as a value of the parameter increases.

With the human powered vehicle control apparatus according to the thirteenth aspect, the output of the engine is promptly increased as the driving load increases.

According to a fourteenth aspect of the present disclosure, the human powered vehicle control apparatus according to the twelfth or thirteenth aspect is arranged such that the controller includes a filter that performs a filtering operation on a control command to the engine. The controller changes the rate of change by varying a time constant contained in the filter.

With the human powered vehicle control apparatus according to the fourteenth aspect, the response speed is appropriately changed by varying the time constant contained in the filter.

According to a fifteenth aspect of the present disclosure, the human powered vehicle control apparatus according to any one of the first to fourteenth aspects is arranged such that the running resistance is at least one of an air resistance, a rolling resistance of a human powered vehicle, a pitch resistance of a traveling road of the human powered vehicle and an acceleration resistance of the human powered vehicle.

With the human powered vehicle control apparatus according to the fifteenth aspect, the engine is controlled according to the running resistance, the at least one of air resistance, rolling resistance of a human powered vehicle wheel, pitch resistance of a human powered vehicle travel road, and acceleration resistance of the human powered vehicle.

According to a sixteenth aspect of the present disclosure, the human powered vehicle control apparatus according to any one of the first to fifteenth aspects further comprises a detector that detects the parameter.

With the human powered vehicle control apparatus according to the sixteenth aspect, the parameter is appropriately detected by the detector.

The human powered vehicle control apparatus of the present disclosure controls the engine appropriately.

list of figures

• 1 FIG. 10 is a side view of a human powered vehicle including a first embodiment of a human powered vehicle control device. FIG.
• 2 is a block diagram showing the electrical structure of the control device for a with Human powered vehicle of the first embodiment shows.
• 3 is a block diagram showing the electrical construction of the first detector and the in 2 shown controller shows.
• 4 FIG. 3 is a flowchart of an operation that is different from that in FIG 2 controller is performed to set a response speed.
• 5 FIG. 13 is a map showing a first example of a relationship between the time and gain shown in the FIG 2 stored memory is stored.
• 6 FIG. 13 is a map showing a second example of a relationship between the time and gain shown in the FIG 2 stored memory is stored.
• 7 Fig. 10 is a flowchart of an operation setting a response speed in a modified example of a second embodiment.
• 8th FIG. 13 is a map showing a first example of a relationship between a cranking amount of crank and a gain stored in a memory of the second embodiment. FIG.
• 9 FIG. 13 is a map showing a second example of a relationship between a cranking amount of rotation and a gain stored in the memory of the second embodiment. FIG.

EMBODIMENTS OF THE DISCLOSURE

The term "at least one of" as used in this disclosure means "one or more" of a desired choice. For one example, the term "at least one of" as used in this disclosure means "only a single choice" or "both of two choices" if the number of choices is two. For another example, the term "at least one of" as used in this disclosure means "only a single choice" or "any combination of equal to or more than two choices" if the number of choices thereof is equal to or greater than three is.

First embodiment

A first embodiment of a control device for a human powered vehicle 40 will now be with reference to the 1 to 6 described. In the following description, the control apparatus for a human-powered vehicle 40 simply as a control device 40 designated. The control device 40 is on a human-powered vehicle 10 intended. The human powered vehicle 10 is a vehicle that can be driven by at least human motive power. The human powered vehicle 10 contains for example a bicycle. The number of wheels of the human powered vehicle 10 is not limited. The human powered vehicle 10 includes, for example, a unicycle and a vehicle with three or more wheels. The human-powered vehicle includes, for example, a mountain bike, a road bike, a city bike, a cargo bike, and a recumbent bike. In the embodiments described below, the human powered vehicle refers 10 on a bike.

As in 1 shown contains the human-powered vehicle 10 a crank 12 , The human powered vehicle 10 also includes a drive wheel 14 and a frame 16 , The human driving force H becomes the crank 12 supplied. The crank 12 contains a crankshaft 12A that are relative to the frame 16 is rotatable, and crank arms 12B at the opposite ends of the crankshaft 12A are provided in the axial direction. A pedal 18 is with every crank arm 12B coupled. The drive wheel 14 will be according to the rotation of the crank 12 driven. The drive wheel 14 is from the frame 16 supported. The crank 12 and the drive wheel 14 are by a drive mechanism 20 coupled. The drive mechanism 20 contains a first rotating body 22 that with the crankshaft 12A is coupled. The crankshaft 12A and the first rotary body 22 can be coupled via a first one-way clutch. The first one-way clutch is configured to forward rotation of the first rotating body 22 to enable in a case in which the crank 12 rotates forward, and a reverse rotation of the first rotating body 22 to prevent in a case in which the crank 12 turns backwards. The first rotary body 22 Includes a sprocket, pulley or bevel gear. The drive mechanism 20 also includes a coupling element 26 and a second rotary body 24 , The coupling element 26 transmits a rotational force of the first rotary body 22 on the second rotary body 24 , The coupling element 26 contains, for example, a chain, a belt or a shaft.

The second rotary body 24 is with the drive wheel 14 coupled. The second rotary body 24 Includes a sprocket, pulley or bevel gear. Preferably, a second one-way clutch is between the second rotary body 24 and the drive wheel 14 intended. The second one-way clutch is configured to provide forward rotation of the drive wheel 14 in a case to allow in the the second rotary body 24 rotates forward and a reverse rotation of the drive wheel 14 prevent in a case in which the second rotary body 24 turns backwards.

The human powered vehicle 10 includes a front wheel and a rear wheel. The front wheel is over a front fork 16A with the frame 16 coupled. A handlebar 16C is over a stem 16B with the front fork 16A coupled. In the embodiments described below, the drive wheel refers 14 on the rear wheel. However, the front wheel may also be the drive wheel 14 be.

As in 1 and 2 shown contains the human-powered vehicle 10 also a battery 28 , a motor 30 , a driver circuit 32 of the motor 30 , a gearbox 34 , an actuator 36 of the transmission 34 and an operation section 38 ,

The battery 28 contains one or more battery cells. The battery cell contains a rechargeable battery. The battery 28 provides electrical energy to other electrical components attached to the human powered vehicle 10 are provided, and via wires or cables electrically to the battery 28 are connected, for example, the engine 30 and the control device 40 , The battery 28 is with a controller 42 connected by wired or wireless communication. The battery 28 is set up to work with the controller 42 For example, to communicate through power line communication (PLC). The battery 28 can be on the outside of the frame 16 be appropriate or at least partially in the frame 16 be housed.

The motor 30 is set up to work together with the driver circuit 32 to form a drive unit. Preferably, the engine 30 and the driver circuit 32 provided in the same housing. The driver circuit 32 Controls the battery 28 to the engine 30 supplied energy. The driver circuit 32 is through wired or wireless communication with the controller 42 the control device 40 connected. The driver circuit 32 is set up, for example, by serial communication with the controller 42 to communicate. The drive circuit 32 drives the engine 30 in accordance with a control signal from the controller 42 at. The motor 30 supports the propulsion of the vehicle powered by human power 10 , The motor 30 contains an electric motor. The motor 30 is intended to be a rotation to the front wheel or a force transmission path of the human driving force H, different from the pedals 18 extends to the rear wheel to transfer. The motor 30 is on the frame 16 of the human powered vehicle 10 , the rear wheel or the front wheel. In one example, the engine is 30 with the power transmission path between the crankshaft 12A and the first rotary body 22 coupled. Preferably, there is at the power transmission path between the engine 30 and the crankshaft 12A provided a one-way clutch, so that in a case where the crankshaft 12A is rotated in one direction in which the human powered vehicle 10 moving forward, the engine 30 not by the torque of the crank 12 is turned. Other elements than the engine 30 and the drive circuit 32 may be provided on the housing to which the engine 30 and the driver circuit 32 are provided. For example, a rotation speed reduction unit that controls the rotation speed of the motor 30 reduces and outputs the rotation to be provided on the housing.

The gear 34 is set up to work together with the actuator 36 to form a transmission device. The gear 34 changes a gear ratio B, that is, the ratio of the rotational speed of the drive wheel 14 to the rotational speed of the crank 12 , The gear 34 is set to the gear ratio B of the human powered vehicle 10 to change. The gear 34 is set up to change the gear ratio B gradually. The actuator 36 causes the gearbox 34 to perform a switching operation. The gear 34 is through the controller 42 controlled. The actuator 36 is through wired or wireless communication with the controller 42 connected. The actuator 36 is set up to work with the controller 42 For example, to communicate through power line communication (PLC). The actuator 36 causes the gearbox 34 a switching operation in accordance with a control signal from the controller 42 performs. The gear 34 includes at least one of an internal switching device and an external switching device (derailleur).

The operating section 38 is pressed to the engine 30 drive. The operating section 38 is through wired or wireless communication with the controller 42 connected. The operating section 38 is set up to work with the controller 42 For example, to communicate through power line communication (PLC). Each operating section 38 includes, for example, an actuator, a sensor that detects movement of the actuator, and an electrical circuit connected to the controller 42 communicates according to an output signal of the sensor. The operating section 38 transmits an output signal to the controller 42 in accordance with an operation performed by the user on the actuator. The actuator and the sensor, detecting the movement of the operating member are arranged to include a push switch, a lever switch, or a touch-sensitive screen.

As in 2 is shown contains the control device 40 the controller 42 , In the present embodiment, the control device includes 40 also a detector 44 , In the present embodiment, the control device includes 40 also a memory 46 , In the present embodiment, the control device includes 40 a torque sensor 48 , a crank rotation sensor 50 and a vehicle speed sensor 52 ,

The controller 42 includes an arithmetic processing unit that executes predetermined control programs. The arithmetic processing unit includes, for example, a central processing unit (CPU) or a micro processing unit (MPU). The controller 42 may contain one or more microcomputers. The controller 42 may include a plurality of arithmetic processing units separately arranged at different positions. The memory 46 stores information (s) used in various control programs and various control operations. The memory 46 contains, for example, a nonvolatile memory and a volatile memory. The controller 42 and the memory 46 For example, are provided on the housing to which the engine 30 is provided. The controller 42 can the driver circuit 32 contain.

The torque sensor 48 is provided on the housing to which the motor 30 is provided. The torque sensor 48 is used to detect a torque TH of the human driving force H, that of the crank 12 input. For example, in a case where the first one-way clutch is provided on the power transmission path, the torque sensor 48 provided on an upstream side of the first one-way clutch. The torque sensor 48 contains, for example, a strain sensor or a magnetostriction sensor. The strain sensor contains a strain gauge. In a case where the torque sensor 48 includes a strain sensor, the strain sensor is preferably provided on the outer peripheral portion of the rotary body, which is included in the power transmission path. The torque sensor 48 may include a wireless or wired communication unit. The communication unit of the torque sensor 48 is set up to communicate with the controller 42 perform.

The crank rotation sensor 50 is used to determine the rotational speed N of the crank 12 capture. The crank rotation sensor 50 is on the frame 16 of the human powered vehicle 10 or attached to the housing to which the motor 30 is provided. The crank rotation sensor 50 is arranged to include a magnetic sensor that outputs a signal corresponding to the strength of a magnetic field. An annular magnet having a magnetic field whose magnitude changes in the circumferential direction is at the crankshaft 12A or the power transmission path between the crankshaft 12A and the first rotary body 22 intended. The crankshaft sensor 50 is with the controller 42 connected by wired or wireless communication. The crank rotation sensor 50 gives a signal that is the rotational speed N of the crank 12 corresponds to the controller 42 out. The crank rotation sensor 50 may be provided on an element that integrally with the crankshaft 12A in the power transmission path of the human driving force H between the crankshaft 12A and the first rotary body 22 rotates. For example, in a case where there is no one-way clutch between the crankshaft 12A and the first rotary body 22 is provided, the crank rotation sensor 50 on the first rotary body 22 be provided.

The vehicle speed sensor 52 is used to calculate a vehicle speed V of the human powered vehicle 10 capture. The vehicle speed sensor 52 detects a rotational speed of a wheel. The vehicle speed sensor 52 is electrically connected to the controller through wired or wireless communication 42 connected. The vehicle speed sensor 52 is through wired or wireless communication with the controller 42 connected. The vehicle speed sensor 52 gives a signal corresponding to the rotational speed of the wheel to the controller 42 out. The controller 42 calculates the vehicle speed V of the human powered vehicle 10 based on the rotational speed of the wheel. In a state where the vehicle speed V is equal to or higher than a predetermined value, the controller stops 42 the engine 30 , The predetermined value is, for example, 25 km / h or 45 km / h. Preferably, the vehicle speed sensor includes 52 a magnetic sheet set up as a reed switch or hall element. The vehicle speed sensor 52 Can be attached to a chainstay of the frame 16 attached and arranged to detect a magnet attached to the rear wheel, or it may be on the front fork 16A be provided and adapted to detect a mounted on the front wheel magnet.

The controller 42 controls the engine 30 according to the vehicle powered by human power 10 supplied or input human driving force H. The controller 42 drives the engine 30 at. For example, in a case where the operation section 38 is pressed to drive the motor 30 to begin and the human driving force H is equal to or greater than a predetermined value, the controller starts 42 the engine 30 drive.

The controller 42 controls the engine 30 for example, such that the ratio of the engine's power of support 30 to the human driving force H is set to a predetermined ratio. The controller 42 can the engine 30 for example, so that control the ratio of power WM (watts) of the motor 30 to the power WH (Watt) of the human driving force H is set to the predetermined ratio. The controller 42 controls the engine 30 in several control modes, which are in a ratio Y of the output of the engine 30 to distinguish the human driving force H from each other. The ratio Y may be based on a ratio YA of the power WM of the output of the motor 30 to the power H of human power H driven power of the human powered vehicle 10 Respectively. The power WH of the human driving force H is obtained by multiplying the human driving force H and the rotational speed N of the crank 12 receive. The controller 42 can the engine 30 so that the ratio of the output torque TM of the assisting force of the motor 30 to the torque TH of the human driving force H of the human powered vehicle 10 is set to a predetermined ratio. The ratio Y may be a torque ratio YB of the output torque TM of the motor 30 to the torque TH of the human driving force H of the human powered vehicle 10 Respectively. In a case where the output of the engine 30 The input of the speed reduction unit becomes the output of the motor through a rotational speed reduction unit in the force path of the human driving force H 30 used. The controller 42 gives a control command to the driver circuit 32 of the motor 30 corresponding to the power WH or the torque TH of the human driving force H. The control command includes, for example, a torque command value.

The controller 42 controls the engine 30 so that the output of the engine 30 is set to be less than or equal to a predetermined value. The output of the engine 30 contains the output torque TM of the motor 30 , The controller 42 can the engine 30 so that the ratio YA is set to less than or equal to a predetermined value YA1. In one example, the predetermined value YA1 is 500 watts. In another example, the predetermined value YA1 is 300 watts. The controller 42 can the engine 30 so that the torque ratio YB to a predetermined torque ratio YB 1 is set. In one example, the predetermined torque ratio is YB 1 300%.

The detector 44 is used to capture a parameter P. The parameter P includes at least one of a running resistance R of the human powered vehicle 10 , the torque TH of the human driving force H, the gear ratio B of the human powered vehicle 10 , a wheel size of the human powered vehicle 10 , an air resistance coefficient C, a front-end projection area A of the driver of the human powered vehicle 10 value, a wind speed Va, a rolling resistance coefficient M, a weight of a carried load of the human-powered vehicle 10 related value, and an acceleration a of the human powered vehicle 10 , The running resistance R contains at least one of an air resistance R1 , a rolling resistance R2 a wheel of the human powered vehicle 10 , a tilt resistance R3 a driveway of the human powered vehicle 10 and an acceleration resistance R4 of the human powered vehicle 10 ,

The detector 44 contains at least one of a first detector 54 a second detector 56 , a third detector 58 , a fourth detector 60 , a fifth detector 62 , a sixth detector 64 , a seventh detector 66 , an eighth detector 68 , a ninth detector 70 and a tenth detector 72 , The detector 44 is through wired or wireless communication with the controller 42 connected. The detector 44 is set up to communicate with the controller 42 for example, by power line communication (PLC) perform.

The first detector 54 is used to detect the driving resistance R. As in 3 shown, contains the first detector 54 also a sensor 74 , a sensor 76 , a sensor 78 , a sensor 80 , a sensor 82 and a sensor 84 ,

The sensor 74 is used to detect at least one of a wind speed and a wind pressure. The sensor 74 includes a wind speed sensor and a wind pressure sensor. The sensor 74 is for example on the handlebar 16C of the human powered vehicle 10 intended. Preferably, the sensor 74 set up so that it captures at least one of a headwind and a tailwind, when the human powered vehicle 10 drives forward.

The sensor 76 is used to detect the acceleration a in a direction in which the human powered vehicle 10 moved forward. The sensor 76 contains an acceleration sensor. The acceleration sensor may be included in a gyroscope. The sensor 76 outputs a signal corresponding to the acceleration a in a direction in which the human-powered vehicle 10 forward to the controller 42 emotional.

The sensor 78 is used to calculate the vehicle speed V of the human powered vehicle 10 capture. The sensor 78 is the same as the vehicle speed sensor 52 set up. The vehicle speed sensor 52 can as a sensor 78 be used. The sensor 78 and the vehicle speed sensor 52 can have separate training.

The sensor 80 is used to tilt the human powered vehicle 10 capture. The sensor 80 is configured to detect a slope angle D of the road surface on which the human powered vehicle 10 emotional. The inclination angle D of the road surface on which the human-powered vehicle 10 is moved, with the inclination angle of the human powered vehicle 10 detected in the forward direction. The inclination angle D of the road surface on which the human-powered vehicle 10 moved, corresponds to the inclination angle of the human-powered vehicle 10 , In one example, the sensor contains 80 a tilt sensor. An example of the tilt sensor is a gyroscope or an acceleration sensor. In another example, the tilt sensor includes a GPS (Global Positioning System) receiver. The controller 42 can determine the inclination angle D of the road surface on which the human-powered vehicle 10 based on the GPS information (s) obtained from the GPS receiver and a road inclination included in the map information (s) stored in the memory 46 is stored in advance. The inclination angle D includes a pitch angle of the human powered vehicle 10 ,

The sensor 82 detects the front surface projection area A of at least one of the human powered vehicle 10 and the driver. The sensor 82 contains an image sensor. The image sensor is, for example, on the handlebar 16C of the human powered vehicle 10 provided a picture of the driver of the human powered vehicle 10 take. The sensor 82 Gives image data of at least one of the human powered vehicle 10 and the driver to the controller 42 out. The controller 42 calculates the front surface projection area A of the at least one human powered vehicle 10 and the driver based on the image data provided by the sensor 82 be received.

The sensor 84 is used to determine the weight of the carried load of the human powered vehicle 10 to capture the related value. The sensor 84 detects the weight of the entrained load of the human powered vehicle 10 , The sensor 84 is provided, for example, on the axle of at least one of the front wheel and the rear wheel. In this case, the sensor is preferably 84 each provided on the front wheel and the rear wheel. For example, in a state where the human-powered vehicle becomes 10 lifted off the ground, a signal coming from the sensor 84 is outputted so that it corresponds to the weight that is zero (gram force). This enables the detection of a total weight m of the human powered vehicle 10 and the carried load. In a state in which the driver is the human-powered vehicle 10 does not drive, for example, becomes a signal coming from the sensor 84 is outputted so that it corresponds to a weight that is zero (gram force). This enables the detection of the weight of the driver of the human powered vehicle 10 , Preferably, the memory stores 46 a relationship between the sensor (s) 84 output information (s) and the weight. The sensor 84 contains a pressure sensor or a strain sensor. The sensor 84 For example, it may sense a force applied to a saddle of the human powered vehicle 10 is exercised. In this case, the sensor can 84 capture the weight of the driver. The sensor 84 For example, the air pressure of a tire of the human-powered vehicle 10 to capture. The controller 42 calculates the weight of a carried load using the air pressure of the tire. Instead of the sensor 84 may be an input section on the control device 40 be provided in the controller to (information) relating to the weight of the entrained load 42 enter. It is preferable that in a case where information relates to the weight of the driver is input via the input section, the controller 42 the information relating to the weight of the driver is stored in the memory 46 stores. The information (s) relating to the carried load include, for example Weight of the driver. The memory 46 stores information that is based on the weight of the human powered vehicle 10 relates / relate. The controller 42 can be the weight of the human powered vehicle 10 and add the weight of the entrained load to the total weight m of the human powered vehicle 10 and to calculate the carried load.

The controller 42 calculates the running resistance R based on an output of the first detector 54 and in the memory 46 stored information (s). The running resistance R contains at least one of the air resistance R1 , the rolling resistance R2 of the wheel the human powered vehicle 10 , the slope resistance R3 the driveway of the human powered vehicle 10 and the acceleration resistance R4 of the human powered vehicle 10 , The running resistance R is determined on the basis of at least one of the air resistance R1 , the rolling resistance R2 the wheel of the human powered vehicle 10 , the slope resistance R3 the driveway of the human powered vehicle 10 and the acceleration resistance R4 of the human powered vehicle 10 calculated. In one example, the controller calculates 42 the running resistance R on the basis of all of the air resistance R1 , the rolling resistance R2 , the tilt resistance R3 and the acceleration resistance R4 ,

In a case where the controller 42 the running resistance R on the basis of all of the air resistance R1 , the rolling resistance R2 , the tilt resistance R3 and the acceleration resistance R4 calculated, the running resistance R is obtained, for example, from equation (1). The air resistance R1 is obtained, for example, from equation (2). The rolling resistance R2 the wheel of the human powered vehicle 10 is obtained from equation (3). The tilt resistance R3 the driveway of the human powered vehicle 10 is obtained from equation (4). The acceleration resistance R4 of the human powered vehicle 10 is obtained from equation (5).

$$\text{R}=\text{R1}+\text{R2}+\text{R3}+\text{R4}$$

$$\text{R1}=\text{C}\times \text{A}\times \left(\text{V}-\text{Va}\right)2$$

$$\text{R2}=\text{M}\times \text{m}\times \text{G}$$

$$\text{R3}=\text{m}\times \text{G}\times \text{are}$$

$$\text{R4}=\text{m}\times \text{a}$$

The drag coefficient of at least one human powered vehicle 10 and the driver is denoted by "C". The air resistance coefficient C may be a suitable fixed value in advance in the memory 46 is stored, or he can by the driver using the operating section 38 or the like.

The front surface projection area is labeled "A". The front surface projection area A can be detected by the sensor 82 can be an appropriate fixed value in advance in the memory 46 is stored or can by the driver using the operation section 38 or the like.

The through the sensor 74 detected wind speed is called "Va". The wind speed Va has a negative value in a case where there is a headwind against the human powered vehicle 10 blows. In a case where the detector is installed so as to be directed in the forward direction, so that the sensor 74 in a direction in which the human powered vehicle 10 Moves forward, detects a headwind, gives the sensor 74 a signal corresponding to V-Va. The wind speed Va may be from the sensor 74 can be an appropriate fixed value in advance in the memory 46 is stored, or may by the driver using the operating section 38 or the like.

The rolling resistance coefficient of the tire of the human powered vehicle 10 is labeled "M". The rolling resistance coefficient M may be a suitable fixed value in advance in the memory 46 is stored, or he can by the driver using the operation section 38 or the like.

The total weight of the human powered vehicle 10 and the entrained load is denoted by "m". The total weight m can be calculated using the sensor 84 can be an appropriate fixed value in advance in the memory 46 is stored, or he can by the driver using the operating section 38 or the like.

The gravitational acceleration of the human powered vehicle 10 is denoted by "g".

The angle of inclination of the road surface on which the human powered vehicle 10 moved, is denoted by "D". The inclination angle D can be determined by the sensor 80 can be an appropriate fixed value in advance in the memory 46 is stored, or he can by the driver using the operating section 38 or the like.

The acceleration of the human powered vehicle 10 is denoted by "a". The acceleration a can be from the sensor 76 can be an appropriate fixed value in advance in the memory 46 is stored, or he can by the driver using the operation section 38 or the like.

The in 2 shown second detector 56 is used to detect the torque TH of the human driving force H. The second detector 56 is the same way as the torque sensor 48 set up. The torque sensor 48 can as the second detector 56 be used. The second detector 56 and the torque sensor 48 can have separate training. The controller 42 calculates the torque TH of the human driving force H based on an output of the second detector 56 and one or more information (s) stored in memory 46 is / are saved.

The third detector 58 is used to calculate the gear ratio B of the human powered vehicle 10 capture. The third detector 58 detects the operating condition of the gearbox 34 , Preferably, the third detector includes 58 a transmission sensor arranged to detect the transmission ratio B. The transmission sensor detects the current gear shift stage 34 , The third detector 58 may be at least one of an actuation of the actuating portion 38 that's the gearbox 34 pressed, and a signal from the controller 42 that controls the transmission detect. The controller 42 calculates the gear ratio B based on an output of the third detector 58 and the one in the memory 46 stored information (s). The relationship between the shift speed and the transmission ratio B becomes, for example, in advance in the memory 46 saved. This allows the controller 42 to detect the current transmission ratio B from the detection result of the transmission sensor. The controller 42 can the transmission ratio B from the rotational speed of the drive wheel 14 and the rotational speed N of the crank 12 to calculate. In this case, the memory stores 46 advance information about the circumferential length of the drive wheel 14 , the diameter of the drive wheel 14 or the radius of the drive wheel 14 ,

The fourth detector 60 is used to measure the wheel size of the human powered vehicle 10 capture. The fourth detector 60 contains, for example, a sensor that detects the air pressure of a tire. The fourth detector 60 may be provided on a valve which is provided on the rim of a wheel. Preferably, the fourth detector contains 60 a sensor that outputs a signal corresponding to the air pressure inside the tire, and a wireless transmitter that transmits the signal from the sensor via wireless communication to the controller 42 transfers. Preferably, the fourth detector 60 on the drive wheel 14 provided and may be provided both on the front wheel and the rear wheel. With reference to a case where the air pressure of the tire is a predetermined air pressure, the controller determines 42 in a case where the air pressure of the tire is lower than the predetermined air pressure that the wheel size of the human-powered vehicle 10 is less than a reference value. In a case where the air pressure of the tire is higher than the predetermined air pressure, the controller determines 42 that the wheel size of the human powered vehicle 10 is greater than the reference value. The memory 46 can store information (s) indicating the relationship between the air pressure of a tire and the wheel size of the human powered vehicle 10 shows / show. In this case, the controller can 42 the wheel size of the human powered vehicle 10 from the information (s) showing the relationship to that in the memory 46 stored wheel size of the human powered vehicle 10 shows / show, and by the fourth detector 60 Calculate recorded tire air pressure.

The fifth detector 62 is used to detect the drag coefficient C. The fifth detector 62 is the same way as the sensor 82 set up. The sensor 82 can be considered the fifth detector 62 be used. The fifth detector 62 and the sensor 82 can have separate training. With reference to a case where the front surface projection area A is a predetermined area, the controller determines 42 in a case where the front surface projection area A is smaller than the predetermined area, the air resistance coefficient C is smaller than a reference value. In a case where the front surface projection area A is larger than the predetermined range, the controller determines 42 in that the air resistance coefficient C is greater than the reference value. The memory 46 may store information showing the relationship between the air resistance coefficient C and the front surface projection area A. In this case, the controller can 42 the value of the drag coefficient C from the information (s) representing the relationship between the air resistance coefficient C and the front surface projection area A displayed in the memory 46 is stored, and the front surface projection area A, that of the fifth detector 62 is detected, calculate.

The sixth detector 64 is used to detect a value relating to a front projection area A of the driver of the human-powered vehicle 10 refers. The sixth detector 64 is the same way as the sensor 82 set up. The sensor 82 can as the sixth detector 64 be used. The sixth detector 64 and the sensor 82 can have separate training. The controller 42 calculates the value related to the front surface projection area A based on an output of the sixth detector 64 and in the store 46 stored information (s).

The seventh detector 66 is used to detect the wind speed Va. The seventh detector 66 is the same way as the sensor 74 set up. The sensor 74 can as the seventh detector 66 be used. The seventh detector 66 and the sensor 74 can have separate training. The controller 42 calculates the wind speed Va based on an output of the seventh detector 66 and in the store 46 stored information (s).

The eighth detector 68 is used to detect the rolling resistance coefficient M. The eighth detector 68 is the same as the vehicle speed sensor 52 set up. The vehicle speed sensor 52 can be considered the fifth detector 62 be used. The fifth detector 62 and the vehicle speed sensor 52 can have separate training. With respect to a case where the vehicle speed V is a predetermined speed, the controller increases 42 the rolling resistance coefficient M in a case where the vehicle speed V is increased, and reduces the rolling resistance coefficient M in a case where the vehicle speed V is reduced. For example, the memory stores 46 the rolling resistance coefficient M for a case where the vehicle speed V is the predetermined speed. For example, the controller corrects 42 the rolling resistance coefficient M, so that the rolling resistance coefficient M increases as the vehicle speed V is increased. The controller 42 corrects the rolling resistance coefficient M by, for example, multiplying the rolling resistance coefficient M by a correction coefficient that increases with increasing vehicle speed V. Preferably, the memory stores 46 the relationship between the vehicle speed V and the correction coefficient of the rolling resistance coefficient M.

The ninth detector 70 is used to detect a value based on the weight of a carried load of the human power vehicle 10 refers. The ninth detector 70 is the same way as the sensor 84 set up. The sensor 84 can be considered the ninth detector 70 be used. The ninth detector 70 and the sensor 84 can have separate training. The controller 42 calculates the weight of the entrained load based on an output of the ninth detector 70 and in the store 46 stored information (s).

The tenth detector 72 is used to accelerate a human powered vehicle 10 capture. The tenth detector 72 is the same way as the sensor 76 set up. The sensor 76 can be considered the tenth detector 72 be used. The tenth detector 72 and the sensor 76 can have separate training. The controller 42 calculates the acceleration a of the human powered vehicle 10 based on an output of the tenth detector 72 and in the store 46 stored information (s).

The controller 42 changes a response speed Q of the engine 30 with respect to a change of the human driving force H according to the parameter P. For example, the controller changes 42 a change amount of the output torque TM of the engine 30 per unit time with respect to a change amount of the torque TH of the human driving force H per unit time. Preferably, the controller contains 42 a filter 86 , which performs a filtering operation on a control command to the motor 30 performs. The controller 42 For example, the response rate Q changes by varying a time constant in the filter 86 is included. The filter 86 contains for example a low pass filter. After the filter 86 has performed the filtering process on a control command, the controller 42 In addition, change the response speed Q by setting a gain corresponding to the time or angle of rotation of the crank 12 for the control command changes.

The controllers 42 provides a response speed Q1 for a case where the human driving force H increases to be higher than a response speed Q2 for a case where the human driving force H decreases. The controller 42 sets the response speed Q1 for a case where the human driving force H increases with increasing value of the parameter P. The controller 42 sets the response speed Q2 for a case where the human driving force H decreases to become lower as the value of the parameter P increases. The response speed Q1 for a case where the human driving force H increases, contains a response speed Q11 for a case where the value of the parameter P is less than a first predetermined value P1 is, and a response speed Q12 for a case where the value of the parameter P is greater than or equal to the first predetermined value P1 is. The answer speed Q2 for a case where the human driving force H decreases, contains a response speed Q21 for a case where the value of the parameter P is less than a second predetermined value P2 is, and a response speed Q22 for a case where the value of the parameter P is greater than or equal to the second predetermined value P2 is.

The controllers 42 sets the response speed Q11 for a case where the human driving force H increases and the value of the parameter P is greater than or equal to the first predetermined value P1 is higher than the response speed Q12 for a case where the human driving force H increases and the value of the parameter P is smaller than the first predetermined value P1 is. In the following description will be the response speed Q11 as the first answer speed Q11 and the speed of response Q12 is considered the second answer speed Q12 designated.

The controller 42 sets the response speed Q21 for a case where the human driving force H decreases and the value of the parameter P is greater than or equal to the second predetermined value P2 is lower than the response speed Q22 for a case where the human driving force H decreases and the value of the parameter P is smaller than the second predetermined value P2 is. The second predetermined value P2 may be from the first predetermined value P1 differ or be the same. In the following description will be the response speed Q21 as the third answer speed Q21 referred, and the response speed Q22 is considered the fourth answer speed Q22 designated.

The process of setting the filter 86 will now be referring to 4 described. In a case where the controller 42 with energy from the battery 28 is powered, the controller starts 42 the process and moves to step S12 of the flowchart shown in 4 is shown. As long as the controller 42 is energized and the support function of the engine 30 is not disabled, the process starts from step S12 executed in predetermined cycles.

In step S12 the controller determines 42 Whether the human driving force H increases or not. In a case where the controller 42 determines that the human driving force H increases, the controller goes 42 to step S13 above. In a case where the human driving force H of the current control cycle is greater than the human driving force H of the preceding control cycle, the controller determines 42 in particular, that the human driving force H increases.

In step S13 the controller determines 42 whether the value of the parameter P is greater than or equal to the first predetermined value P1 is or not. In a case where the controller 42 determines that the value of the parameter P is greater than or equal to the first predetermined value P1 is, the controller goes 42 to step S14 above. The controller 42 determines that the value of the parameter P in one case is greater than or equal to the first predetermined value P1 in which at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, is related to a weight of a carried load Value, and the acceleration a of the human powered vehicle 10 is greater than or equal to a first predetermined value set for each parameter. In a case where the controller 42 For example, determines that the running resistance R is greater than or equal to a first driving resistance RA, the controller goes 42 to the step S14 above.

In step S14 represents the controller 42 the filter 86 such that the response speed Q is the first response speed Q11 is, and ends the process. The controller 42 For example, set a time constant that is the first response speed Q11 in the filter 86 equivalent.

In a case where the controller 42 in step S13 determines that the value of the parameter P is not greater than or equal to the first predetermined value P1 is, the controller goes 42 to step S15 above. In step S15 represents the controller 42 the filter 86 such that the answering speed Q is the second answering speed Q12 is, and ends the process. The controller 42 For example, sets a time constant that is the second response speed Q12 in the filter 86 equivalent.

In a case where the controller 42 in step S12 determines that the human driving force H does not rise, the controller goes 42 to step S16 above. In step S16 the controller determines 42 whether the value of the parameter P is greater than or equal to the second predetermined value P2 is or not. In a case where the controller 42 determines that the value of the parameter P is greater than or equal to the second predetermined value P2 is, is it? controller 42 to step S17 further. The controller 42 determined in a case where at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size and the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, the weight of a entrained load related value, and the acceleration a of the human powered vehicle 10 greater than or equal to a second predetermined value P2 is set for each parameter that the value of the parameter P is greater than or equal to the second predetermined value P2 is. For example, in a case where the controller 42 determines that the running resistance R is greater than or equal to a second driving resistance RB, the controller goes 42 to the step S17 above.

In step S17 represents the controller 42 the filter 86 such that the answer speed Q is the third answer speed Q21 is, and ends the process. The controller 42 For example, set a time constant that is the third answer speed Q21 in the filter 86 equivalent.

In a case where the controller 42 in step S16 determines that the value of the parameter P is not greater than or equal to the second predetermined value P2 is, the controller goes 42 to step S18 above. In step S18 represents the controller 42 the filter 86 such that the answering speed Q is the fourth answering speed Q22 is, and ends the process. The controller 42 For example, set a time constant that is the fourth answer speed Q22 in the filter 86 equivalent.

The controllers 42 sets the response speed Q for a predetermined period of time TX other than the response speed Q after the lapse of the predetermined period of time TX , The controller 42 sets the response speed Q in a case where the human driving force H after the lapse of the predetermined period of time TX increases to be higher than the response speed Q for a case where the human driving force H during the predetermined period of time TX increases. The predetermined period of time TX is a period of time from the drive start of the engine 30 until the expiry of a first time t11.

In the present embodiment, the controller changes 42 after the filter 86 has performed the filtering operation on a control command, the response speed Q is set by setting the gain K corresponding to that in FIG 5 t shown for the control command changes. 5 is a graph showing the relationship between the gain K and the time t from the drive start of the engine 30 shows. The relationship between the gain K and the time t from the drive start of the motor 30 will be in the memory 46 stored as a table, a relational expression or a map. If the engine 30 is driven, as in 5 shown, the gain K gradually increases from zero ( 0 ) when time t elapses. The gain K becomes 100% at the first time t11. Then the gain K maintains 100% until the drive of the motor 30 stops. The controller 42 changes the response speed Q by issuing the control command at which the filter 86 has performed the filtering process with a gain rate K. Through the process, the controller provides 42 the response speed Q for the predetermined period of time TX otherwise, a response speed Q for after the predetermined time has elapsed TX , When combining the in 4 The operation shown is the response speed Q for a case where the human driving force H is after the lapse of the predetermined time period TX increases, set higher than the response speed Q for a case where the human driving force H during the predetermined period of time TX increases. The relationship between the time t and the gain K may change linearly, as by the solid line L10 in 5 or it may change in a curved manner, such as the single-dashed line L20 and the double-dashed line L30 in 5 shown.

The relationship between the gain K and the time t from the drive start of the motor 30 may be at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, Rolling resistance coefficient M, the value related to the weight of the entrained load and the acceleration a of the human powered vehicle 10 be changed. The predetermined period of time TX may be shortened by including at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, and the weight thereof Load-related value and the acceleration a of the human powered vehicle 10 increases. For example, the solid line shows L11 , in the 6 is shown, the relationship between the gain K and the time t from the time the drive starts the engine 30 in a case where at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, is carried by the weight Load-related value and the acceleration a of the human powered vehicle 10 less than or equal to a third predetermined value P3 is set for each parameter. For example, the solid line shows L12 , in the 6 is shown, the relationship between the gain K and the time t from the drive start of the engine 30 in a case where at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, is carried by the weight Load-related value and the acceleration a of the human powered vehicle 10 greater than the third predetermined value set for each parameter P3 is.

Second embodiment

A second embodiment of a control device 40 will now be with reference to the 2 and 7 described. The control device 40 The second embodiment is the same as the control device 40 the first embodiment, except for the condition for the start of the engine drive 30 , Thus, the same reference numerals are given to the elements that are the same as the corresponding elements of the first embodiment. Such elements will not be described in detail.

The controller 42 starts the drive of the engine 30 in accordance with an operation of the operating portion 38 , For example, the controller starts 42 in a case where the operation section 38 is pressed to drive the motor 30 To begin, the human driving force H less than or equal to a predetermined value, the engine 30 drive. The predetermined value is for example zero ( 0 ). The user operates the operating section 38 for example, in the case of walking with the human powered vehicle 10 , The operating section 38 may include an actuator and a switch on which an operation is performed to walk with the human-powered vehicle 10 to support. In a case where the operation section 38 is pressed and the engine 30 is driven, controls the controller 42 the engine 30 so that the human powered vehicle 10 at a predetermined speed or lower. The predetermined speed includes, for example, a range of 3 to 5 km / h.

The controller 42 changes a rate of change X of the output signal of the motor 30 corresponding to the parameter P. The parameter P includes at least one of the running resistance R of the human powered vehicle 10 , the gear ratio B of the human powered vehicle 10 , the wheel size of the human powered vehicle 10 , the drag coefficient C, the wind speed Va, the rolling resistance coefficient M and the weight of the carried load of the human powered vehicle 10 related value.

The controller 42 increases the rate of change X as the value of parameter P increases. The controller 42 changes the rate of change X by varying a time constant stored in the filter 86 is included. After the filter 86 has performed the filtering process on a control command, the controller 42 also change the rate of change X by adjusting the changing gain according to the time for the control command.

The process of setting the rate of change X will now be described with reference to FIG 7 described. In a case where the controller 42 with energy from the battery 28 is powered, the controller starts 42 the process and goes to step S31 of in 7 shown flow diagram on. As long as the controller 42 is energized, the process is from step S31 executed in predetermined cycles.

In step S31 the controller determines 42 whether the operating section 38 is pressed or not. In a state where the human driving force H is less than or equal to a predetermined value, the controller determines 42 in a case where the operation section 38 is pressed to the walking of the human powered vehicle 10 to support that the actuation section 38 is pressed. In a case where the controller 42 determines that the operating section 38 is not pressed, the controller ends 42 the process. In a case where the controller 42 determines that the operating section 38 is pressed, the controller goes 42 to step S32 above.

In step S32 controls the controller 42 the engine 30 at the rate of change X corresponding to the parameter P and ends the process. The controller 42 For example, sets a time constant corresponding to the rate of change X corresponding to the parameter P in the filter 86 , After the filter 86 has performed the filtering process on a control command, the controller 42 In addition, the rate of change X is changed by adjusting the gain, which changes according to the time for the control command.

Modified examples

The description relating to the embodiments exemplifies, without intending to limit, the applicable forms of a human powered vehicle control device according to the present disclosure. For example, the human powered vehicle control apparatus of the present disclosure may be applicable to modified examples of the embodiments described below and combinations of at least two of the modified examples that do not conflict. In the following modified examples, the same reference numerals are given to the elements which are identical to the corresponding elements of the embodiments. Such elements will not be described in detail.

In the first embodiment, the gain K, which changes according to the time, need not be set for the control command in which the filter 86 has performed the filtering process.

In the first embodiment, the predetermined period of time TX may be changed to a period of time from which the drive of the motor 30 begins until a rotational amount DN of the crank 12 reaches a predetermined amount DN1. 8th FIG. 12 is a graph showing the relationship between the gain K and the rotational amount DN of the crank 12 from the start of the engine 30 shows. The relationship between the gain K and the rotational amount DN of the crank 12 from the start of the engine 30 , will be in the memory 46 stored as a table, a relational expression or a map. If the engine 30 starts to be driven as in 8th is shown, the gain K gradually increases from zero ( 0 ), when the rotational amount DN of the crank 12 increases. The gain K becomes 100% when the rotational amount DN of the crank 12 reaches the predetermined amount DN1. Then the gain K maintains 100% until the drive of the motor 30 stops. The controller 42 changes the response speed Q by issuing the control command at which the filter 86 has performed the filtering process with a gain rate K. The relationship between the rotational amount DN of the crank 12 and the gain K can change linearly, as by the solid line L40 , in the 8th is shown may change in a curved manner, such as the single-dashed line L50 and the double-dashed line L60 in 8th is displayed.

The relationship between the gain K and the time t from the drive start of the engine 30 until the rotational amount DN of the crank 12 reaches the predetermined amount DN1, may correspond to at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M and the weight the entrained load related value to be changed. For example, the predetermined amount DN1 may be decreased when at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, based on the weight of the entrained load value and the acceleration a of the human powered vehicle 10 increases. For example, the solid line shows L41 , in the 9 is shown, the relationship between the gain K and the time t from the time at which the drive of the motor 30 begins until the rotational amount DN of the crank 12 reaches the predetermined amount DN1 in a case where at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, based on the weight of the entrained load value and the acceleration a of the human powered vehicle 10 less than or equal to a fourth predetermined value P4 is set for each parameter. For example, the solid line shows L42 , in the 9 is shown, the relationship between the gain K and the time t from the drive start of the engine 30 in a case where at least one of the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, is carried by the weight Load-related value and the acceleration a of the human powered vehicle 10 greater than the fourth predetermined value P4 is set for each parameter.

In the first embodiment and its modified examples, the steps S13 . S14 and S15 be omitted. In this case, in a case where in step S12 it is determined that the human driving force H is increasing, a time constant is set so that the response speed Q is set to a predetermined response speed regardless of the parameter P.

In the first embodiment and its modified examples, the steps S16 . S17 and S18 be omitted. In this case, in a case where in step S12 it is determined that the human driving force H does not increase, a time constant is set so that the response speed Q is set to a predetermined response speed regardless of the parameter P.

In each embodiment, in a case where at least one of the parameters P, the running resistance R, the torque TH, the gear ratio B, the wheel size, the air resistance coefficient C, the value related to the front surface projection area A, the wind speed Va, the rolling resistance coefficient M, the value related to the weight of the entrained load and the acceleration a of the human powered vehicle 10 contains, increases and at least one of the parameters P decreases, the response speed Q of the engine 30 or the rate of change X corresponding to a parameter P representing the travel loads of the human-powered vehicle 10 strongly influenced, or a parameter P having a predetermined high priority, to be changed. The memory 46 stores (a) information related to the parameter P, which is the running resistance R of the human powered vehicle 10 strongly influenced, or the parameter P, which has a predetermined high priority.

In the second embodiment, the process performed by the filter 86 is performed, be omitted. In this case, the controller sets a gain that changes with time for the control command.

In the first embodiment and its modified examples, the process which is different from the one described in 2 shown filter 86 is performed, be omitted. In this case, the controller puts 42 a gain that varies depending on the time or the amount of rotation DN of the crank 12 for the control command changes.

LIST OF REFERENCE NUMBERS

10)

human-powered vehicle,

12)

crank

30)

Engine,

38)

Operating portion

40)

Control device for a human powered vehicle,

42)

controller,

44)

Detector,

86)

filter

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• JP 2018054913 [0001]
• JP 1059260 [0003]

Claims (14)

A human powered vehicle control apparatus comprising: a controller that controls a motor that assists the driving of a human-powered vehicle according to the human driving force supplied with respect to the human-powered vehicle, wherein the controller changes a response speed of the motor with respect to a change in human driving force according to a parameter and the parameter includes at least one of a running force of the human power vehicle, a torque of human driving force, a gear ratio of the human powered vehicle, a wheel size of the human power driven vehicle, an air resistance coefficient, and a front surface projection area of a driver of the human powered vehicle Value, a wind speed, a rolling resistance coefficient, a value related to a weight of an entrained load of the human powered vehicle, and an acceleration of the human powered vehicle. Control device for a human powered vehicle after Claim 1 wherein the controller sets the response speed for a case where the human driving force increases and a value of the parameter is greater than or equal to a first predetermined value to be higher than the response speed for a case where the human driving force increases and Value of the parameter is less than the first predetermined value. Control device for a human powered vehicle after Claim 1 or 2 wherein the controller sets the response speed for a case where the human driving force becomes higher as the value of the parameter increases. Control device for a human powered vehicle according to any one of Claims 1 to 3 wherein the controller sets the response speed to be lower than the response speed for a case where the human driving force decreases and a value of the parameter is equal to or greater than a second predetermined value in a case where the human driving force decreases and the value of Preferably, the controller sets the response speed for a case where the human driving force decreases to be lower as the value of the parameter increases. Control device for a human powered vehicle according to any one of Claims 1 to 4 wherein the controller sets the response speed for a case where the human driving force increases to be higher than the response speed for a case where the human driving force decreases. Control device for a human powered vehicle according to any one of Claims 1 to 5 wherein the controller sets the response speed for a predetermined time other than the response speed for after the predetermined time has elapsed, preferably, the controller sets the response speed higher than the response speed for a case where the human driving force increases after the predetermined time lapse a case where the human driving force increases during the predetermined period of time. Control device for a human powered vehicle after Claim 6 wherein the predetermined period of time is a period of time from the drive start of the engine to the expiration of a first time. Control device for a human powered vehicle after Claim 6 wherein the human-powered vehicle includes a crank that is supplied with human driving force, and the predetermined period of time is a period from the drive start of the engine until a rotational amount of the crank reaches a predetermined value. Control device for a human powered vehicle according to any one of Claims 1 to 8th wherein the controller includes a filter that performs a filtering operation on a control command to the motor, and the controller changes the response speed by changing a time constant contained in the filter. A human powered vehicle control apparatus, comprising: a controller that controls a motor assisting propulsion of a human powered vehicle, wherein the controller starts to drive the motor in accordance with the operation of an operation section and changes a change speed of an output of the motor according to a parameter; Parameters of at least one of a driving resistance of the human-powered vehicle, a gear ratio of the human-powered vehicle, a wheel size of the human-powered vehicle, an air resistance coefficient, a wind speed, a rolling resistance coefficient and a value related to a weight of an entrained load of the human powered vehicle. Control device for a human powered vehicle after Claim 10 wherein the controller increases the rate of change as a value of the parameter increases. Control device for a human powered vehicle after Claim 10 or 11 wherein the controller includes a filter that performs a filtering operation on a control command to the motor, and the controller changes the rate of change by changing a time constant contained in the filter. Control device for a human powered vehicle according to any one of Claims 1 to 12 wherein the running resistance includes at least one of an air resistance, a rolling resistance of a wheel of the human powered vehicle, a pitch resistance of a traveling road of the human power driven vehicle, and an acceleration resistance of the human power driven vehicle. Control device for a human powered vehicle according to any one of Claims 1 to 13 , further comprising a detector detecting the parameter.

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